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Following are links to lists of appearances for each of the Doctor's companions, ordered by the incarnation of the Doctor they featured with first and by which medium they primarily featured in.

First Doctor

Television

Audio

Prose

Comics

Second Doctor

Television

Prose

Comics

Third Doctor

Television

Audio

Comics

Fourth Doctor

Television

Audio

Prose

Comics

Video game

Fifth Doctor

Television

Audio

Prose

Comics

Video game

Sixth Doctor

Television

Audio

Prose

Comics

Video game

Seventh Doctor

Television

Audio

Prose

Comics

Eighth Doctor

Television

Audio

Prose

Comics

War Doctor

Audio

Prose

Comics

Ninth Doctor

Television

Prose

Comics

Tenth Doctor

Television

Audio

Prose

Comics

Eleventh Doctor

Television

Audio

Prose

Comics

Twelfth Doctor

Television

Prose

Comics

Audio

Video game

Other Doctors

Future Doctors